1. Field of the Invention
Embodiments of the disclosure relate to an equipment selection device and an equipment selection processing program, and to an equipment selection processing method.
2. Description of Background Art
Japanese Patent Laid-Open Publication No. 2006-42589 describes a servo motor selection processing device in which, when a driven mechanism (for example, a ball screw mechanism) is selected, and further mechanical specifications are input, and further a movement pattern of a load is input, via a input device, required specifications of a corresponding servo motor are obtained and servo motors matching conditions of the required specifications are listed. The entire contents of this publication are incorporated herein by reference.
According to one aspect of the present invention, an equipment selection device for selecting peripheral equipment including servo motors and motor control devices in a multi-axis drive system in which multiple driven mechanisms operate in conjunction with each other based on driving forces of the servo motors includes circuitry which receives, for each operation axis, a selection of a speed pattern from available speed patterns that are determined in advance, receives, for each operation axis, a selection of a driven mechanism from available driven mechanisms that are determined in advance, extracts, for each operation axis, in response to receiving the selection of the driven mechanism and from multiple servo motors and multiple motor control devices that are determined in advance, one or more servo motors and one or more motor control devices that match variation of a load mass borne by the selected driven mechanism when operating in conjunction with other driven mechanisms and that match the selected speed pattern, generates a list from the extracted servo motor or motors and motor control device or devices, displays the list including the servo motor or motors and the motor control device or devices, and receives selection from the list of a servo motor and a motor control device.
According to another aspect of the present invention, an equipment selection device for selecting peripheral equipment including servo motors and motor control devices in a multi-axis drive system in which multiple driven mechanisms operate in conjunction with each other based on driving forces of the servo motors includes circuitry which acquires, for each driven mechanism of multiple driven mechanisms, a combination of variation of a load mass that is borne by the respective driven mechanism when operating in conjunction with other driven mechanisms and variation of a speed pattern related to the respective driven mechanism, the variation of the load mass and the variation of the speed pattern being determined in advance for each operation mode when the multi-axis drive system performs according to multiple predetermined operation modes, receives, for each operation axis, a selection of a driven mechanism from available driven mechanisms that are determined in advance, extracts, for each operation axis and from multiple servo motors and multiple motor control devices that are determined in advance, one or more servo motors and one or more motor control devices that match the selected driven mechanism by matching a respective combination of variations of the selected driven mechanism, generates a list from the extracted servo motor or motors and motor control device or devices, displays the list including the servo motor or motors and the motor control device or devices, and receives selection from the list of a servo motor and a motor control device.
According to yet another aspect of the present invention, an equipment selection device for selecting peripheral equipment including servo motors and motor control devices in designing a multi-axis drive system in which multiple driven mechanisms individually driven by one of the servo motors operate in conjunction with each other includes circuitry which receives, for each operation axis, a selection of a driven mechanism from available driven mechanisms that are determined in advance, compute a load pattern that represents a variation of a load of an object operated by the selected driven mechanism based on operations of other driven mechanisms, compute a necessary driving torque pattern that is required by a servo motor that drives the selected driven mechanism in order to operate the load represented by the computed load pattern, and select a servo motor and a motor control device that are capable of driving the selected driven mechanism based on the computed necessary driving torque pattern.
According to still another aspect of the present invention, a computer readable medium has stored thereon a program that when executed by a computer causes the computer having circuitry to execute an equipment selection method for selecting peripheral equipment including servo motors and motor control devices in a multi-axis drive system in which multiple driven mechanisms operate in conjunction with each other based on driving forces of the servo motors. The equipment selection method includes receiving, for each operation axis, a selection of a speed pattern from available speed patterns, receiving, for each operation axis, a selection of a driven mechanism from available driven mechanisms that are determined in advance, extracting, using the circuitry, for each operation axis, in response to receiving the selection of the driven mechanism, and from multiple servo motors and multiple motor control devices that are determined in advance, one or more servo motors and one or more motor control devices that match variation of a load mass borne by the selected driven mechanism when operating in conjunction with other driven mechanisms and that match the selected speed pattern, generating, using the circuitry, a list from the extracted servo motor or motors and motor control device or devices, displaying the list including the servo motor or motors and the motor control device or devices, and receiving selection from the list of a servo motor and a motor control device.
According to still another aspect of the present invention, a computer readable medium has stored thereon a program that when executed by a computer causes the computer having circuitry to execute an equipment selection method for selecting peripheral equipment including servo motors and motor control devices in a multi-axis drive system in which multiple driven mechanisms operate in conjunction with each other based on driving forces of the servo motors. The equipment selection method includes acquiring, for each driven mechanism of multiple driven mechanisms, a combination of variation of a load mass that is borne by the respective driven mechanism when operating in conjunction with other driven mechanisms and variation of a speed pattern related to the respective driven mechanism, the variation of the load mass and the variation of the speed pattern being determined in advance for each operation mode when the multi-axis drive system performs according to predetermined operation modes, receiving, for each operation axis, a selection of a driven mechanism from available driven mechanisms that are determined in advance, extracting, using the circuitry, for each operation axis, and from multiple servo motors and multiple motor control devices that are determined in advance, one or more servo motors and one or more motor control devices that match the selected driven mechanism by matching a respective combination of variations of the selected driven mechanism, generating a list from the extracted servo motor or motors and motor control device or devices, displaying the list including the servo motor or motors and the motor control device or devices, and receiving selection from the list of a servo motor and a motor control device.
According to still another aspect of the present invention, a computer readable medium has stored thereon a program that when executed by a computer causes the computer having circuitry to execute an equipment selection method for selecting peripheral equipment including servo motors and motor control devices in designing a multi-axis drive system in which multiple driven mechanisms individually driven by one of the servo motors operate in conjunction with each other. The equipment selection method includes receiving, for each operation axis, a selection of a driven mechanism from available driven mechanisms that are determined in advance, computing, using the circuitry, a load pattern that represents a variation of a load of an object operated by the selected driven mechanism based on operations of other driven mechanisms, computing, using the circuitry, a necessary driving torque pattern that is required by a servo motor that drives the selected driven mechanism in order to operate the load represented by the computed load pattern, and selecting a servo motor and a motor control device that are capable of driving the selected driven mechanism based on the computed necessary driving torque pattern.
According to still another aspect of the present invention, an equipment selection method for selecting peripheral equipment including servo motors and motor control devices in a multi-axis drive system in which multiple driven mechanisms operate in conjunction with each other based on driving forces of the servo motors includes receiving, for each operation axis, a selection of a speed pattern from available speed patterns, receiving, for each operation axis, a selection of a driven mechanism from available driven mechanisms that are determined in advance, extracting, using circuitry, for each operation axis, in response to receiving the selection of the driven mechanism, and from multiple servo motors and multiple motor control devices that are determined in advance, one or more servo motors and one or more motor control devices that match variation of a load mass borne by the selected driven mechanism when operating in conjunction with other driven mechanisms and that match the selected speed pattern, generating, using the circuitry, a list from the extracted servo motor or motors and motor control device or devices, displaying the list including the servo motor or motors and the motor control device or devices, and receiving selection from the list of a servo motor and a motor control device.
According to still another aspect of the present invention, an equipment selection method for selecting peripheral equipment including servo motors and motor control devices in a multi-axis drive system in which multiple driven mechanisms operate in conjunction with each other based on driving forces of the servo motors includes acquiring, for each driven mechanism of multiple driven mechanisms, a combination of variation of a load mass that is borne by the respective driven mechanism when operating in conjunction with other driven mechanisms and variation of a speed pattern related to the respective driven mechanism, the variation of the load mass and the variation of the speed pattern being determined in advance for each operation mode when the multi-axis drive system performs according to predetermined operation modes, receiving, for each operation axis, a selection of a driven mechanism from available driven mechanisms that are determined in advance, extracting, using circuitry, for each operation axis, and from multiple servo motors and multiple motor control devices that are determined in advance, one or more servo motors and one or more motor control devices that match the selected driven mechanism by matching a respective combination of variations of the selected driven mechanism, generating a list from the extracted servo motor or motors and motor control device or devices, displaying the list including the servo motor or motors and the motor control device or devices, and receiving selection from the list of a servo motor and a motor control device.
According to still another aspect of the present invention, an equipment selection method for selecting peripheral equipment including servo motors and motor control devices in designing a multi-axis drive system in which multiple driven mechanisms individually driven by one of the servo motors operate in conjunction with each other includes receiving, for each operation axis, a selection of a driven mechanism from available driven mechanisms that are determined in advance, computing, using circuitry, a load pattern that represents a variation of a load of an object operated by the selected driven mechanism based on operations of other driven mechanisms, computing, using the circuitry, a necessary driving torque pattern that is required by a servo motor that drives the selected driven mechanism in order to operate the load represented by the computed load pattern, and selecting a servo motor and a motor control device that are capable of driving the selected driven mechanism based on the computed necessary driving torque pattern.
A more complete appreciation of the invention and many of the attendant advantages thereof will be readily obtained as the same becomes better understood by reference to the following detailed description when considered in connection with the accompanying drawings, wherein:
The embodiments will now be described with reference to the accompanying drawings, wherein like reference numerals designate corresponding or identical elements throughout the various drawings.
First, a processing configuration of the equipment selection application 100 of the present embodiment is described. In
First, the input part 130 includes an axis number input part 131, a command condition input part 132, a mechanism condition input part 133 and a load arithmetic expression input part 134.
The axis number input part 131 has a function of inputting a number of operation axes of a multi-axis drive system to be designed, that is, a number of motors required to drive the multi-axis drive system (hereinafter, a motor may be referred to as an operation axis as appropriate).
The command condition input part 132 has a function of inputting a speed pattern as a command condition that is envisioned to be output by a control object of the operation axes in the multi-axis drive system.
The mechanism condition input part 133 has a function of inputting, for a driven mechanism driven by each operation axis in the multi-axis drive system, a driven mechanism model that defines mechanistic content of the driven mechanism and detailed design parameters of the driven mechanism as a mechanism condition. The control object, the command condition, the driven mechanism and the mechanism condition will be described in detail later with reference to
The load arithmetic expression input part 134 has a function of inputting, for each operation axis, a load arithmetic expression that is used when a load pattern is computed that represents a mode in which a load of a control object of the operation axis varies due to operations of other operation axes. The load pattern and the load arithmetic expression will be described in detail later with reference to
Next, the memory 120 includes a motor equipment characteristics database 121 (abbreviated to DB in
Next, the selection arithmetic part 110 includes a load pattern arithmetic part 111, a necessary driving torque pattern arithmetic part 112, a required characteristics calculation part 113, and a motor equipment selection part 114.
The load pattern arithmetic part 111 has a function of computing a load pattern that represents variation of a load of a control object of a predetermined operation axis based on a command condition input using the command condition input part 132 and a load arithmetic expression input using the load arithmetic expression input part 134.
The necessary driving torque pattern arithmetic part 112 has a function of computing a necessary driving torque pattern that is required for each operation axis in order to drive the entire driven mechanism, the computation being performed with reference to the driven mechanism model storage 122 and based on a mechanism condition input using the mechanism condition input part 133, a command condition input using the command condition input part 132 and a load pattern computed using the load pattern arithmetic part 111.
The required characteristics calculation part 113 has a function of calculating required characteristics that are required by a motor equipment of the operation axis based on a necessary driving torque pattern computed by the necessary driving torque pattern arithmetic part 112.
The motor equipment selection part 114 has a function of selecting and obtaining motor equipment from the motor equipment characteristics database 121 based on the required characteristics calculated by the required characteristics calculation part 113, the motor equipment having specification characteristics that minimally satisfy and match the required characteristics. The required characteristics calculation part 113 and the motor equipment selection part 114 correspond to an equipment selection part. Further, the load pattern, the necessary driving torque pattern and the required characteristics will be described in detail later.
Next, the output part 140 has a function of outputting a screen for performing input operations of the input part 130 and a name or the like of the motor equipment selected using the motor equipment selection part 114 to a display device such as a display to be presented to a user. The display corresponds to a display part.
In the following, a method for selecting motor equipment according to the present embodiment is described using an example of a specific multi-axis drive system.
An example of a multi-axis drive system that is an object with respect to which selection of motor equipment is performed by the motor equipment selection device (equipment selection application 100) of the present embodiment is illustrated in
In this example, the two Y-axis table movement mechanisms (204, 205) and the X-axis table movement mechanism 208 are respectively driven mechanisms that are each provided with a horizontal ball screw mechanism driven by a rotary servo motor. Further, as illustrated in
A detailed structure of each of the table movement mechanisms is illustrated in
The motor drive mechanism 410 has a servo motor 411, an encoder 412 and a servo controller 413. The servo motor 411 in this example is a rotary motor and rotationally drives an output shaft (411a) according to drive power supplied from the servo controller 413. The encoder 412 is structured by, for example, an optical rotation speed detector and the like, and detects a rotation position and a rotation angular speed of the output shaft (411a) of the servo motor with sufficient accuracy. The servo controller 413 controls the drive power supplied to the servo motor 411 with reference to detection information from the encoder 412 and in particular based on a drive control command input from a host control device (not illustrated in the drawings). The servo controller 413 corresponds to a motor control device.
Further, in the driven mechanism 420 of the example illustrated in
The control object 430 is an object that is fixed on an output part of the driven mechanism 420, that is, on the movable table (424b) of this example, and is caused to linearly move. For example, in the case of the Y1-axis table movement mechanism 204 and the Y2-axis table movement mechanism 205, portions of a combination combining the movable beam 206 and the X-axis table movement mechanism 208 that are respectively borne by the Y1-axis and the Y2-axis are respectively the control objects 430 of the Y1-axis table movement mechanism 204 and the Y2-axis table movement mechanism 205. Further, in the case of the X-axis table movement mechanism 208, the equipment (see the broken-line part in
A multi-axis drive system having the motor drive mechanism 410 and the driven mechanism 420 may be a virtual system in a design stage rather than an actually manufactured system. In the present embodiment, the driven mechanism 420 has a structure in which, as described above, all power transmission elements are coupled in series in only one row from the output shaft (411a) of the servo motor. In the following, a description is given of a method for selecting servo motors and servo controllers that have characteristics suitable for driving the respective table movement mechanisms (204, 205, 208) having the above-described structure in the equipment selection application 100 of the present embodiment. Selection of the encoder 412 and the like that structure the motor drive mechanism 410 will be described later.
First, in general, in order to perform selection of motor equipment, it is necessary for a user to input in advance at least a command condition and a mechanism condition to the equipment selection application 100. Then, in a case of an operation axis where a load of the above-described control object varies due to operations of driven mechanisms of other axes, it is further necessary to input a load arithmetic expression. An example of an operation screen for performing input and setting of the conditions and the arithmetic expression is illustrated in
The operation screen includes an axis number input operation part 501, a speed diagram setting operation part 502, a mechanism setting operation part 503, a load pattern setting operation part 504, a single-axis selection operation part 505, multi-axis speed diagram setting operation part 506, a multi-axis selection operation part 507 and a setting completion operation part 508. A user can select and operate the operation parts in a predetermined order (or in any order). The user can first use the axis number input operation part 501 to input and set a number of operation axes, that is, a number of motors, included in a multi-axis drive system to be designed. The axis number input operation part 501 is an operation part that functions via the axis number input part 131. When the number of the operation axes is set, rows of operation parts are displayed arranged in an up-down direction according to the set number of axes, in each of the rows, the speed diagram setting operation part 502, the mechanism setting operation part 503, the load pattern setting operation part 504 and the single-axis selection operation part 505 being arranged in this order from a left side in
The speed diagram setting operation part 502 is an operation part that functions via the command condition input part 132, and sets an operation quantity as a command condition such as a time series variation pattern that is envisioned to be output by an output part, that is, the control object, of the driven mechanism of each of the operation axes. In the example of the present embodiment, the operation quantity is set in a command using a movement speed of the control object. Specifically, the operation quantity is set using a speed pattern (speed diagram) represented by a time series as illustrated in
Further, in the multi-axis speed diagram setting operation part 506, as illustrated in
The mechanism setting operation part 503 is an operation part that functions via the mechanism condition input part 133, and sets, with respect to the driven mechanisms of the respective operation axes, an overall mechanistic type and design parameters of respective structure elements as a mechanism condition. Specifically, a large number of types of driven mechanism models stored in the driven mechanism model storage 122 are displayed as a list as illustrated in
Here, in the case of the multi-axis drive system of the X-Y table 200 illustrated above in
In order to select motor equipment suitable for driving the X-axis table movement mechanism 208, it is necessary to calculate a necessary driving torque pattern and required characteristics. That is, in order to cause the control object of the X-axis table movement mechanism 208 to move with a speed pattern that is set as the command condition, for each of all the power transmission elements that structure the driven mechanism and the load of the control object, a necessary driving torque required for driving is individually analyzed based on the mechanism condition. For the element specific analysis of the necessary driving torque, torque calculation (thrust calculation) according to a formula such as T=J·dω/dt(F=m·a) can be performed, and details of the calculation are omitted here. Then, a time series pattern of a necessary driving torque required by the servo motor by accumulating the necessary driving torques of the control object and the respective power transmission elements, and the required characteristics required by the servo motor are calculated based on the necessary driving torque pattern.
In a case where the command condition is given as a speed pattern of a movement speed as illustrated in
Based on the necessary driving torque pattern analyzed as described above, the required characteristics calculation part 113 in
On the other hand, in the case of the Y1-axis and the Y2-axis in the multi-axis drive system of the X-Y table 200 illustrated in
For example, a mass of a combination combining the X-axis movable table 207 moving on the movable beam and the X-axis control object placed on the X-axis movable table 207 is 40 kg and load masses that are portions of the mass of the combination that are respectively borne by the Y1-axis and the Y2-axis are My1 and My2, a relation of My1+My2=40 kg always holds. In this relation, a case of coordinate setting is considered where, in an x-coordinate on the X-axis illustrated in
In this case, of the mass (40 kg) of the combination combining the X-axis movable table 207 and the X-axis control object placed on the X-axis movable table 207, the shared load masses (My1, My2) that are respectively borne by the Y1-axis and the Y2-axis can be respectively expressed by the following Expressions (1) and (2).
My1=20(L−x)/L+10 (1)
My2=20x/L+10 (2)
Further, load masses of the respective control objects of the Y1-axis table movement mechanism 204 and the Y2-axis table movement mechanism 205 include not only the shared load masses (My1, My2) obtained from the above Expressions (1) and (2), but are sums that are obtained by respectively adding shared load masses (Cy1, Cy2) to the shared load masses (My1, My2), the shared load masses (Cy1, Cy2) being with respect to a load mass of a combination combining the X-axis table movement mechanism 208 and the entire movable beam, excluding the X-axis movable table 207 (Cy1+Cy2=constant). However, the shared load masses (Cy1, Cy2) are respectively fixed values that are not affected by the movement position x of the X-axis and do not vary. As a result, the load masses (MY1, MY2) of the respective control objects of the Y1-axis table movement mechanism 204 and the Y2-axis table movement mechanism 205 can be expressed as by the following Expressions (3) and (4).
MY1=My1+Cy1=20(L−x)/L+10+Cy1 (3)
MY2=My2+Cy2=20x/L+10+Cy2 (4)
These two expressions are respectively the load arithmetic expressions of the control objects of the Y1-axis table movement mechanism 204 and the Y2-axis table movement mechanism 205, and it is clear that, in the case of the X-Y table 200 of
As described above, there is often a case where load masses of multiple axes that operate in conjunction with each other can each be individually obtained using an arithmetic expression that involves operation quantities (such as acceleration, speed, displacement, and inclination) of other operation axes. Such a relational arithmetic expression can be created as a load arithmetic expression by a designing user who understands a mechanistic structure of the multi-axis drive system, and the load arithmetic expression can be input using the load pattern setting operation part 504 illustrated in
For example, in the case of the load arithmetic expression of the Y1-axis that is expressed by the above Expression (3), as described above, the load arithmetic expression of the control object is a first order expression in which the movement position x of the X-axis movable table 207 is a variable. Therefore, it is necessary to obtained the movement position x. As illustrated in
In the example of the present embodiment, in order to select motor equipment suitable for respectively driving the Y1-axis table movement mechanism 204 and the Y2-axis table movement mechanism 205, necessary driving torque patterns and required characteristics may be obtained that are required to respectively move, at the respective speed patterns, the load masses that are respectively illustrated by the load patterns. In the following, a specific example of the process is described.
For example, a case is considered where the above X-Y table 200 illustrated in
Based on the speed patterns, the equipment selection application 100 internally performs integration calculation to calculate a movement amount pattern of the X-axis (not illustrated in the drawings). Based on the movement amount pattern of the X-axis, the load pattern arithmetic part 111 in
Based on the necessary driving torque patterns of the respective operation axes that are analyzed as described above, the required characteristics calculation part 113 in
The above-described selection processing process is schematically summarized in
With regard to selection of peripheral equipment such as the encoder illustrated in
First, at step S5, the axis number input part 131 illustrated in
Next, the processing proceeds to step S10, at which the command condition input part 132 illustrated in
Next, the processing proceeds to step S15, at which the mechanism condition input part 133 illustrated in
Next, the processing proceeds to step S20, at which the load arithmetic expression input part 134 illustrated in
Next, the processing proceeds to step S25, at which the load pattern arithmetic part 111 illustrated in
Next, the processing proceeds to step S30, at which the necessary driving torque pattern arithmetic part 112 illustrated in
Next, the processing proceeds to step S35, at which the required characteristics calculation part 113 illustrated in
Next, the processing proceeds to step S40, at which the motor equipment selection part 114 illustrated in
Next, the processing proceeds to step S45, at which the output part 140 illustrated in
The settings that are respectively performed at steps S10, S15 and S20 may be performed by the user in any order.
In the above, in the flow of
As described above, according to the equipment selection application 100 of the present embodiment, peripheral equipment including a servo motor and a motor control device that are optimal for the respective driven mechanisms can be selected while taking into account variations of the load masses borne by the respective driven mechanisms. First, the user sets a speed pattern and a mechanism condition of a control object for each of operation axes corresponding to multiple driven mechanisms. Further, the user sets load arithmetic expressions for necessary operation axes. As a result, of the load masses of the control objects of the respective operation axes, variation of a shared load mass that is borne by sharing by an operation axis when operating in conjunction with other operation axes is obtained from a load arithmetic expression, and based on the variation of the share load mass, variation of the load mass of the control object of the operation axis alone is calculated (there may also be a case where the shared load mass is constant). Based on the variation of the load mass and the speed pattern, a necessary driving torque pattern and required characteristics of the operation axis are calculated. Based on the required characteristics, at least one servo motor and at least one servo controller that match the required characteristics are respectively selected from multiple servo motors and multiple servo controllers that are prepared in advance, and names of the selected at least one servo motor and at least one servo controller are displayed in a list.
As a result, the user can easily select a servo motor and a servo controller that are provided with proper specifications from the servo motors and servo controllers that are displayed in the list while taking into account variations of mass loads that are borne by the respective driven mechanisms in the multi-axis drive system to be designed.
Further, according the present embodiment, based on the load pattern that represents the variation of the load mass of the control object that is calculated by the load pattern arithmetic part 111 and the speed pattern that is set, the necessary driving torque pattern and the required characteristics of the operation axis are calculated. As a result, the servo motor and the servo controller that are provided with proper specifications can be reliably selected.
Further, according to the present embodiment, movement of a load mass that actually occurs due to operation of a control object that is performed by a driven mechanism is converted to an increase or decrease in an apparent fixed mass of a control object that is borne by another driven mechanism. That is, a phenomenon in which a load mass with a constant value moves is replaced by a phenomenon in which a value of an imaginary load mass positioned at a fixed point increases or decreases, and calculation is performed. As a result, the load pattern arithmetic part 111 can obtain the load pattern without performing complicated calculation.
Further, according to the present embodiment, the load pattern arithmetic part 111 multiplies a movement amount pattern of the X-axis by a predetermined load variable coefficient (inertia moment load variable coefficient), the movement amount pattern being obtained by integrating a speed pattern that is set corresponding to the X-axis, and adds an initial weight load of a load mass of a control object that is borne by the driven mechanism of the X-axis, and thereby, performs conversion to respective load patterns of the Y1-axis and the Y2-axis. As a result, the load pattern arithmetic part 111 can reliably obtain the load patterns without performing complicated calculation.
In the above embodiment, the servo controller is selected in one-to-one correspondence with the servo motor. That is, a case is described where a single-axis servo controller is selected. However, the present invention is not limited to this, and is also applicable in selecting a multi-axis servo controller that collectively controls multiple servo motors. For example, as illustrated in
As a result, after proper specifications are selected for each of the respective operation axes, a multi-axis servo controller or a multi-axis common converter that is optimal for the case where all of the operation axes (that is, all of the driven mechanisms) are controlled with one controller can be further recommended to the user.
Further, according to the present embodiment, the above-described setting screen of
Further, according to the present embodiment, selection of servo motors is performed in the multi-axis drive system of the X-Y table 200 that has, as multiple driven mechanisms, the X-axis table movement mechanism 208 that performs a linear movement along the X-axis as an operation axis with respect to a load mass, the Y1-axis table movement mechanism 204 that supports one end portion of the X-axis table movement mechanism 208 and performs a linear movement along the Y1-axis as an operation axis with respect to the one end portion, and the Y2-axis table movement mechanism 205 that supports the other end portion of the X-axis table movement mechanism 208 and performs a linear movement along the Y2-axis as an operation axis parallel to the Y1-axis with respect to the other end portion.
As a result, servo motors and servo controllers that are provided with proper specifications can be easily selected with respect to a three-axis drive system in which the two end portions of the X-axis table movement mechanism 208 that moves a control object along the X-axis are linearly moved along the Y1-axis and Y2-axis directions by the Y1-axis table movement mechanism 204 and the Y2-axis table movement mechanism 205.
The above-described command condition is not limited to the input of a speed pattern. The command condition may also be input using another operation quantity such as a movement position pattern (movement amount pattern) of a control object.
The present invention is not limited to the above embodiment. Various modified embodiments are possible within the scope without departing from the spirit and the technical idea of the present invention. In the following, such modified embodiments are sequentially described.
(1) Case where Complicated Load Patterns are Calculated Using External Application
In the above-described embodiment, as an example of the multi-axis drive system, a case of a simple structure is described in which two axes, the Y1-axis and the Y2-axis, are aligned in parallel and coupled with respect to the common X-axis. However, as illustrated on a left side in
In this case, a command condition, a mechanism condition and load arithmetic expressions (such as an arithmetic expression based on a Newton-Euler method, and a Lagrange equation of motion) may be input using an equipment selection application (100A) and then export them to the external analysis application, or may be directly input to the external analysis application. Then, the equipment selection application (100A) of the present modified embodiment imports a combination of computed load patterns and speed patterns of the respective operation axes from the external analysis application and, based on the computed load patterns and speed patterns, computes necessary driving torque patterns of the respective operation axes. Corresponding required characteristics are respectively calculated from the necessary driving torque patterns of the respective operation axes, and names of suitable motor equipment are respectively selected.
In the above, a processing block in which a combination of a load pattern and a speed pattern is obtained for each driven mechanism from the external analysis application corresponds to a combination acquisition part and a combination acquisition step; an operation screen on which a mechanism condition of each operation axis is input corresponds to a sixth display part; a control step to display the operation screen corresponds to a sixth display control step and a fourth display step; a screen in which a name of a motor equipment selected based on the obtained combination of the load pattern and the speed pattern is displayed corresponds to a seventh display part; and a control step to display this display screen corresponds to a seventh display control step and a fifth display step.
As described above, according to the equipment selection application (100A) of the present modified embodiment, a combination of a load pattern and a speed pattern for each operation axis in a multi-axis drive system of a complicated structure can be obtained from the external analysis application. Therefore, while the equipment selection application (100A) itself can keep a simple structure, a servo motor and a servo controller that are provided with proper specifications for each operation axis can be easily selected in the same manner as in the above-described embodiment.
It is also possible that only a load pattern is imported from the external analysis application, and a speed pattern of a combination of the same operation axis is input and obtained using the equipment selection application (100A).
In the above-described embodiment and modified embodiments, the equipment selection applications (100, 100A) are each described as a form of a stand-alone application that is started by a program stored in an internal storage device (such as the HDD) of the PC 1. However, the equipment selection applications (100, 100A) may also be each configured as a form of a network application (web application) that is started when connected to an external server over the network.
Further, in addition to those already described above, methods according to the above-described embodiment and modified embodiments may be appropriately combined and used.
In Japanese Patent Laid-Open Publication No. 2006-42589, selection processing of servo motors in a multi-axis drive system that includes multiple driven mechanisms is not particularly considered.
An equipment selection processing device according to an embodiment of the present invention, an equipment selection processing program according to an embodiment of the present invention and an equipment selection processing method according to an embodiment of the present invention allow selection processing of servo motors and motor control devices of a multi-axis drive system that includes multiple driven mechanisms to be easily performed.
According to one aspect of the present invention, an equipment selection device is applied. The equipment selection device performs selection of peripheral equipment including servo motors and motor control devices in a multi-axis drive system in which multiple driven mechanisms operate in conjunction with each other based on driving forces of the servo motors. The equipment selection device includes a first display part, a second display part and a third display part. The first display part performs display to prompt selection of one speed pattern, for each operation axis, from multiple speed patterns that are prepared in advance. The second display part performs display to prompt selection of one of the driven mechanisms, for each operation axis, from the driven mechanisms that are prepared in advance. The third display part performs display to extract, for each operation axis, in response to the selection result of the driven mechanism corresponding to the display of the second display part, from multiple servo motors and multiple motor control devices that are prepared in advance, at least one servo motor and at least one motor control device that match variation of a load mass borne by the one selected driven mechanism when the one driven mechanism operates in conjunction with other driven mechanisms and match the selection result of the speed pattern related to the one driven mechanism, to display names of the at least one servo motor and at least one motor control device in a list, and to prompt selection from the displayed list.
According to another aspect of the present invention, an equipment selection device is applied. The equipment selection device performs selection of peripheral equipment including servo motors and motor control devices in a multi-axis drive system in which multiple driven mechanisms operate in conjunction with each other based on driving forces of the servo motors. The equipment selection device includes a combination acquisition part, a sixth display part and a seventh display part. The combination acquisition part acquires, for each driven mechanism, a combination of variation of a load mass that is borne by the one driven mechanism when operating in conjunction with other driven mechanisms and a speed pattern related to the one driven mechanism, the variation of the load mass and the speed pattern being obtained in advance for each operation mode when the multi-axis drive system performs predetermined operation modes. The sixth display part performs display to prompt selection of one of the driven mechanisms, for each operation axis, from the driven mechanisms that are prepared in advance. The seventh display part performs display to extract, for each operation axis, from multiple servo motors and multiple motor control devices that are prepared in advance, at least one servo motor and at least one motor control device that match the selection result of the driven mechanism corresponding to the display of the sixth display part and match the acquisition result of the combination acquisition part related to the selected one driven mechanism, to display the at least one servo motor and at least one motor control device in a list, and to prompt selection from the displayed list.
According to yet another aspect of the present invention, an equipment selection device is applied. The equipment selection device performs selection of peripheral equipment including servo motors and motor control devices in designing a multi-axis drive system in which multiple driven mechanisms that are each individually driven by one of the servo motors operate in conjunction with each other. The equipment selection device includes a load pattern arithmetic part, a necessary driving torque pattern arithmetic part and an equipment selection part. The load pattern arithmetic part computes a load pattern that represents a mode in which a load of an object operated by one driven mechanism selected from the driven mechanisms varies based on operations of other driven mechanisms. The necessary driving torque pattern arithmetic part computes a necessary driving torque pattern that is required by the servo motor that drives the one driven mechanism in order to operate the load represented by the load pattern by the operation of the one driven mechanism. The equipment selection part selects a servo motor and a motor control device that are suitable for driving the one driven mechanism based on the necessary driving torque pattern.
According to yet another aspect of the present invention, an equipment selection processing program is applied. The equipment selection processing program executes a first display control step, a second display control step and a third display control step with respect to an arithmetic part of an equipment selection device. The equipment selection device performs selection of peripheral equipment including servo motors and motor control devices in a multi-axis drive system in which multiple driven mechanisms operate in conjunction with each other based on driving forces of the servo motors, and is provided with the arithmetic part that performs predetermined computation and a display part that performs predetermined display. At the first display control step, a control signal is output to the display part, the control signal being for performing display to prompt selection of one speed pattern, for each operation axis, from multiple speed patterns that are prepared in advance. At the second display control step, a control signal is output to the display part, the control signal being for performing display to prompt selection of one of the driven mechanisms, for each operation axis, from the driven mechanisms that are prepared in advance. At the third display control step, a control signal is output to the display part, the control signal being for performing display to extract, for each operation axis, in response to the selection result of the driven mechanism corresponding to the display of the display part at the second display control step, from multiple servo motors and multiple motor control devices that are prepared in advance, at least one servo motor and at least one motor control device that match variation of a load mass borne by the one selected driven mechanism when the one driven mechanism operates in conjunction with other driven mechanisms and match the selection result of the speed pattern related to the one driven mechanism, to display names of the at least one servo motor and at least one motor control device in a list, and to prompt selection from the displayed list.
According to yet another aspect of the present invention, an equipment selection processing program is applied. The equipment selection processing program includes a combination acquisition step, a sixth display control step and a seventh display control step with respect to an arithmetic part of an equipment selection device. The equipment selection device performs selection of peripheral equipment including servo motors and motor control devices in a multi-axis drive system in which multiple driven mechanisms operate in conjunction with each other based on driving forces of the servo motors, and is provided with an arithmetic part that performs predetermined computation and a display part that performs predetermined display. At the combination acquisition step, for each driven mechanism, a combination of variation of a load mass that is borne by the one driven mechanism when operating in conjunction with other driven mechanisms and a speed pattern related to the one driven mechanism is acquired, the variation of the load mass and the speed pattern being obtained in advance for each operation mode when the multi-axis drive system performs multiple predetermined operation modes. At the sixth display control step, a control signal is output to the display part, the control signal being for performing display to prompt selection of one of the driven mechanisms, for each operation axis, from the driven mechanisms that are prepared in advance. At the seventh display control step, a control signal is output to the display part, the control signal being for performing display to extract, for each operation axis, from multiple servo motors and multiple motor control devices that are prepared in advance, at least one servo motor and at least one motor control device that match the selection result of the driven mechanism corresponding to the display of the display part at the sixth display control step and match the acquisition result of the combination acquisition step related to the selected one driven mechanism, to display names of the at least one servo motor and at least one motor control device in a list, and to prompt selection from the displayed list.
According to yet another aspect of the present invention, an equipment selection program is applied. The equipment selection program executes a load pattern computation control step, a necessary driving torque pattern computation control step and an equipment selection control step with respect to an arithmetic part of an equipment selection device. The equipment selection device performs selection of peripheral equipment including servo motors and motor control devices in designing a multi-axis drive system in which multiple driven mechanisms that are each individually driven by one of the servo motors operate in conjunction with each other. At the load pattern computation control step, a load pattern is computed that represents a mode in which a load of an object operated by one driven mechanism selected from the driven mechanisms varies based on operations of other driven mechanisms. At the necessary driving torque pattern computation control step, a necessary driving torque pattern is computed that is required by the servo motor that drives the one driven mechanism in order to operate the load represented by the load pattern by the operation of the one driven mechanism. At the equipment selection control step, a servo motor and a motor control device are selected that are suitable for driving the one driven mechanism based on the necessary driving torque pattern.
According to yet another aspect of the present invention, an equipment selection processing method is applied. The equipment selection processing method is executed by an equipment selection device and includes a first display step, a second display step and a third display step. The equipment selection device performs selection of peripheral equipment including servo motors and motor control devices in a multi-axis drive system in which multiple driven mechanisms operate in conjunction with each other based on driving forces of the servo motors. The first display step performs display to prompt selection of one speed pattern, for each operation axis, from multiple speed patterns that are prepared in advance. The second display step performs display to prompt selection of one of the driven mechanisms, for each operation axis, from the driven mechanisms that are prepared in advance. The third display step performs display to extract, for each operation axis, in response to the selection result of the driven mechanism corresponding to the display of the second display step, from multiple servo motors and multiple motor control devices that are prepared in advance, at least one servo motor and at least one motor control device that match variation of a load mass borne by the one selected driven mechanism when the one driven mechanism operates in conjunction with other driven mechanisms and match the selection result of the speed pattern related to the one driven mechanism, to display names of the at least one servo motor and at least one motor control device in a list, and to prompt selection from the displayed list.
According to yet another aspect of the present invention, an equipment selection processing method is applied. The equipment selection processing method is executed by an equipment selection device and includes a combination acquisition step, a fourth display step and a fifth display step. The equipment selection device performs selection of peripheral equipment including servo motors and motor control devices in a multi-axis drive system in which multiple driven mechanisms operate in conjunction with each other based on driving forces of the servo motors. The combination acquisition step acquires, for each driven mechanism, a combination of variation of a load mass that is borne by the one driven mechanism when operating in conjunction with other driven mechanisms and a speed pattern related to the one driven mechanism, the variation of the load mass and the speed pattern being obtained in advance for each operation mode when the multi-axis drive system performs predetermined operation modes. The fourth display step performs display to prompt selection of one of the driven mechanisms, for each operation axis, from the driven mechanisms that are prepared in advance. The fifth display step performs display to extract, for each operation axis, from multiple servo motors and multiple motor control devices that are prepared in advance, at least one servo motor and at least one motor control device that match the selection result of the driven mechanism corresponding to the display of the fourth display step and match the acquisition result of the combination acquisition step related to the selected one driven mechanism, to display names of the at least one servo motor and at least one motor control device in a list, and to prompt selection from the displayed list.
According to yet another aspect of the present invention, an equipment selection processing method is applied. The equipment selection processing method is executed by an equipment selection device and includes a load pattern computation step, a necessary driving torque pattern computation step and an equipment selection step. The equipment selection device performs selection of peripheral equipment including servo motors and motor control devices in designing a multi-axis drive system in which multiple driven mechanisms that are each individually driven by one of the servo motors operate in conjunction with each other. The load pattern computation step computes a load pattern that represents a mode in which a load of an object operated by one driven mechanism selected from the driven mechanisms varies based on operations of other driven mechanisms. The necessary driving torque pattern computation step computes a necessary driving torque pattern that is required by the servo motor that drives the one driven mechanism in order to operate the load represented by the load pattern by the operation of the one driven mechanism. The equipment selection step selects a servo motor and a motor control device that are suitable for driving the one driven mechanism based on the necessary driving torque pattern.
According to an embodiment of the present invention, an operator can easily select a servo motor and a motor control device that are provided with proper specifications from names of servo motors and motor control devices that are displayed in a list while taking into account variation of a mas load borne by each driven mechanism in a multi-axis drive system of a structure that the operator desires.
Obviously, numerous modifications and variations of the present invention are possible in light of the above teachings. It is therefore to be understood that within the scope of the appended claims, the invention may be practiced otherwise than as specifically described herein.
The present application is continuation of and claims the benefit of priority to International Application No. PCT/JP2012/075711, filed Oct. 3, 2012, the entire contents of which are incorporated herein by reference.
Number | Date | Country | |
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Parent | PCT/JP2012/075711 | Oct 2012 | US |
Child | 14678324 | US |